A Software-in-the-Loop Simulation Scheme for Position Formation Flight of Multicopters

AUTOR(ES)

Castro, Davi Ferreira de, Santos, Davi Antônio dos

FONTE

J. Aerosp. Technol. Manag.

DATA DE PUBLICAÇÃO

2016-12

RESUMO

ABSTRACT The cooperative control of small unmanned aerial vehicles such as the multicopters has been extensively investigated worldwide for functionality augmentation and cost reduction with respect to a single larger vehicle. The present paper proposes a software-in-the-loop simulation scheme for performance evaluation and demonstration of formation flight control systems of multicopters. The simulation scheme consists of a computer network where each computer simulates one of the vehicles using the MATLAB/Simulink for implementing the local control system and the X-Plane for simulating the flight dynamics and environment. For cooperation, the local control systems exchange position data by means of the network. In order to illustrate the proposed scheme, a group of 3 octocopters is taken into consideration and a leader-follower strategy is chosen for triangular position formation, with the leader moving in a straight line with constant speed.

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